cmake_minimum_required(VERSION 3.0.2)
project(cp_controller)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  controller_interface
  controller_manager
  gazebo_ros
  hardware_interface
  pluginlib
  roscpp
  rospy
  std_msgs
)

catkin_package(
 INCLUDE_DIRS include
 CATKIN_DEPENDS controller_interface controller_manager gazebo_ros hardware_interface pluginlib roscpp rospy std_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  include
)

## Add QuadProg++ source files directly to your project
set(QUADPROGPP_SRC
  QuadProgpp/src/QuadProg++.cc
)

add_library(${PROJECT_NAME}
  src/FSM_data.cpp
  src/QP_controller.cpp
  ${QUADPROGPP_SRC}  # Add QuadProg++ source file to your library
)
add_dependencies(${PROJECT_NAME}
  ${catkin_EXPORTED_TARGETS}
)
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)
target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${catkin_INCLUDE_DIRS}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)



## Install the cp_controller library into the catkin LIBRARY DESTINATION
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)



# cmake_minimum_required(VERSION 3.0.2)
# project(cp_controller)

# ## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

# ## Find catkin macros and libraries
# ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
# ## is used, also find other catkin packages
# find_package(catkin REQUIRED COMPONENTS
#   controller_interface
#   controller_manager
#   gazebo_ros
#   hardware_interface
#   pluginlib
#   roscpp
#   rospy
#   std_msgs
# )

# ## System dependencies are found with CMake's conventions
# # find_package(Boost REQUIRED COMPONENTS system)


# ## Uncomment this if the package has a setup.py. This macro ensures
# ## modules and global scripts declared therein get installed
# ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# # catkin_python_setup()

# ################################################
# ## Declare ROS messages, services and actions ##
# ################################################

# ## To declare and build messages, services or actions from within this
# ## package, follow these steps:
# ## * Let MSG_DEP_SET be the set of packages whose message types you use in
# ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
# ## * In the file package.xml:
# ##   * add a build_depend tag for "message_generation"
# ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
# ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
# ##     but can be declared for certainty nonetheless:
# ##     * add a exec_depend tag for "message_runtime"
# ## * In this file (CMakeLists.txt):
# ##   * add "message_generation" and every package in MSG_DEP_SET to
# ##     find_package(catkin REQUIRED COMPONENTS ...)
# ##   * add "message_runtime" and every package in MSG_DEP_SET to
# ##     catkin_package(CATKIN_DEPENDS ...)
# ##   * uncomment the add_*_files sections below as needed
# ##     and list every .msg/.srv/.action file to be processed
# ##   * uncomment the generate_messages entry below
# ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

# ## Generate messages in the 'msg' folder
# # add_message_files(
# #   FILES
# #   Message1.msg
# #   Message2.msg
# # )

# ## Generate services in the 'srv' folder
# # add_service_files(
# #   FILES
# #   Service1.srv
# #   Service2.srv
# # )

# ## Generate actions in the 'action' folder
# # add_action_files(
# #   FILES
# #   Action1.action
# #   Action2.action
# # )

# ## Generate added messages and services with any dependencies listed here
# # generate_messages(
# #   DEPENDENCIES
# #   std_msgs
# # )

# ################################################
# ## Declare ROS dynamic reconfigure parameters ##
# ################################################

# ## To declare and build dynamic reconfigure parameters within this
# ## package, follow these steps:
# ## * In the file package.xml:
# ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
# ## * In this file (CMakeLists.txt):
# ##   * add "dynamic_reconfigure" to
# ##     find_package(catkin REQUIRED COMPONENTS ...)
# ##   * uncomment the "generate_dynamic_reconfigure_options" section below
# ##     and list every .cfg file to be processed

# ## Generate dynamic reconfigure parameters in the 'cfg' folder
# # generate_dynamic_reconfigure_options(
# #   cfg/DynReconf1.cfg
# #   cfg/DynReconf2.cfg
# # )

# ###################################
# ## catkin specific configuration ##
# ###################################
# ## The catkin_package macro generates cmake config files for your package
# ## Declare things to be passed to dependent projects
# ## INCLUDE_DIRS: uncomment this if your package contains header files
# ## LIBRARIES: libraries you create in this project that dependent projects also need
# ## CATKIN_DEPENDS: catkin_packages dependent projects also need
# ## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
#  INCLUDE_DIRS include
# #  LIBRARIES cp_controller
#  CATKIN_DEPENDS controller_interface controller_manager gazebo_ros hardware_interface pluginlib roscpp rospy std_msgs
# #  DEPENDS system_lib
# )

# ###########
# ## Build ##
# ###########

# ## Specify additional locations of header files
# ## Your package locations should be listed before other locations
# include_directories(
#   ${catkin_INCLUDE_DIRS}
#   include
# )

# # add_subdirectory(QuadProgpp)


# add_library(${PROJECT_NAME}
#   src/FSM_data.cpp
#   src/QP_controller.cpp
# )
# add_dependencies(${PROJECT_NAME}
#   ${catkin_EXPORTED_TARGETS}
# )
# target_link_libraries(${PROJECT_NAME}
#   ${catkin_LIBRARIES}
#   # QuadProgpp
#   # /home/obot/catkin_ws/src/cp_controller/QuadProgpp/src
#   )
# target_include_directories(${PROJECT_NAME} PUBLIC
#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
#   $<INSTALL_INTERFACE:include>
#   ${catkin_INCLUDE_DIRS}
# )


# ## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# )
# add_executable(${PROJECT_NAME}_node
#   src/cp_hardware_interface_node.cpp
# )
## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/cp_controller.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/cp_controller_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_cp_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
